Subversion Repositories FlightCtrl

#ifndef _TIMER2_H

#define _TIMER2_H

#include <inttypes.h>

#include <math.h>

#include "configuration.h"

extern volatile uint16_t pwmChannels[MAX_PWMCHANNELS];

#define SERVO_RESOLUTION FINE

#if (SERVO_RESOLUTION == COARSE)

#define F_TIMER2 (F_CPU/32)

#define CS2 ((1<<CS21)|(1<<CS20))

#else

#define F_TIMER2(F_CPU/8)

#define CS2 (1<<CS21)

#endif

//#define ABSOLUTE_MIN ((float)F_TIMER2*0.00075 + 0.5)

//#define ABSOLUTE_MAX ((float)F_TIMER2*0.00225 + 0.5)

#define PULSELENGTH_800  ((float)F_TIMER2*0.0008)

#define PULSELENGTH_1000 ((float)F_TIMER2*0.0010)

#define PULSELENGTH_1500 ((float)F_TIMER2*0.0015)

#define PULSELENGTH_2000 ((float)F_TIMER2*0.0020)

#define PULSELENGTH_2200 ((float)F_TIMER2*0.0022)

#define PWM_CONTROL_SCALE_FACTOR (PULSELENGTH_1000/(float)CONTROL_RANGE)

#define PWM_BYTE_SCALE_FACTOR (PULSELENGTH_1000/256.0)

// Prevent damage even if grossly misconfigured:

// Multiply this by angle in int16-degrees and again by 100 to get servo deflection to same angle 

// (assuming 90 degrees over 1 ms, which is the norm):

void timer2_init(void);

//void calculateServoValues(void);

#endif //_TIMER2_H